Commit fca2b4a3 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Fix #834, avoided Leonardo Minor Servo SETUP command

parent a71887f3

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+1 −1
Original line number Diff line number Diff line
@@ -492,7 +492,7 @@ void SRTMinorServoBossCore::setGregorianCoverPosition(std::string position) 


    ACS_LOG(LM_FULL_INFO, "setGregorianCoverPosition", (LM_INFO, ("SETTING GREGORIAN COVER POSITION TO " + position).c_str()));



    if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", position == "OPEN" ? 1 : 2)).checkOutput())

    if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", position == "OPEN" ? COVER_STATUS_OPEN : COVER_STATUS_CLOSED)).checkOutput())

    {

        _EXCPT(MinorServoErrors::StowErrorExImpl, ex, "SRTMinorServoBossCore::setGregorianCoverPosition()");

        ex.addData("Reason", "Error while sending a STOW command to the gregorian cover.");

SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp

+21 −4
Original line number Diff line number Diff line
@@ -86,10 +86,24 @@ void SRTMinorServoSetupThread::runLoop() 
                servo->clearUserOffsets();

            }



            m_status = 2;

            //m_status = 2;

            m_status = 100;

            break;

        }

        case 2: // Send the SETUP command

        case 100: // Send the STOW command to the gregorian cover

        {

            if(!m_core.m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", m_gregorian_cover_position)).checkOutput())

            {

                ACS_LOG(LM_FULL_INFO, "SRTMinorServoSetupThread::runLoop()", (LM_ERROR, "Received NAK when setting the gregorian cover position."));

                m_core.setFailure();

                this->setStopped();

                return;

            }



            m_status = 5;

            break;

        }

        /*case 2: // Send the SETUP command

        {

            try

            {
@@ -140,7 +154,7 @@ void SRTMinorServoSetupThread::runLoop() 
            }



            break;

        }

        }*/

        case 5: // Load the servos coefficients and send a PRESET command

        {

            for(const auto& [servo_name, servo] : m_core.m_servos)
@@ -180,7 +194,10 @@ void SRTMinorServoSetupThread::runLoop() 
        }

        case 6: // Wait for the whole system to reach the PRESET configuration

        {

            if(std::all_of(m_core.m_servos.begin(), m_core.m_servos.end(), [this](const std::pair<std::string, SRTBaseMinorServo_ptr>& servo) -> bool

            // First we check the status of the gregorian cover

            bool completed = m_core.m_component.gregorian_cover()->get_sync(comp.out()) == m_gregorian_cover_position ? true : false;



            if(completed && std::all_of(m_core.m_servos.begin(), m_core.m_servos.end(), [this](const std::pair<std::string, SRTBaseMinorServo_ptr>& servo) -> bool

            {

                ACSErr::Completion_var comp;

                if(servo.second->in_use()->get_sync(comp.out()) == Management::MNG_TRUE)